This document introduces the iNEMO Engine Lite sensor fusion algorithm demonstration source code for STM32F103 microcontrollers. The algorithm achieves accurate motion tracking and reliable compass heading for accurate navigation. It utilizes a 7-state extended Kalman filter and outputs quaternions, heading, pitch, and roll. The maximum output data rate is 100 Hz, and the system requirements include 7 kbyte Flash memory and 5 kbyte RAM.